Autonomous driving paper index
Isolation-aware Scheduling Framework for DNN-based End-to-End Autonomous Driving System on Tile-based Accelerators
One-line summary
Level-4+ autonomous driving systems (ADS) must run dozens of heterogeneous deep neural networks (DNNs) as end-to-end (E2E) pipelines under a strict latency constraint (<=100 ms), even as execution time varies by up to 3.3x.
Engineering notes
On an industry- and academia- derived ADS benchmark, ADS-Tile uses up to 32% fewer tiles than the work-conserving baseline in deadline-critical settings and cuts reallocation-induced wasted processing capacity from 17%-44% to below 1.2%.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
Level-4+ autonomous driving systems (ADS) must run dozens of heterogeneous deep neural networks (DNNs) as end-to-end (E2E) pipelines under a strict latency constraint (<=100 ms), even as execution time varies by up to 3.3x. Cost rules out dedicating isolated hardware to each function in mass-produced ADS, so these DNNs must be densely colocated on a single chip, which introduces shared-resource contention. Tile-based accelerators expose two scheduling opportunities that conventional ADS schedulers do not exploit. First, they provide a tunable degree of parallelism (DoP): assigning more tiles raises DoP and can shorten DNN execution time. Second, they provide hardware-native isolation: tiles can be physically partitioned among co-located DNNs. But using this flexibility is expensive: changing a task's DoP triggers a stop-migrate-restart reallocation of its weights and intermediate features. At ADS task rates of 10-240 Hz, these stalls accumulate along E2E chains and threaten deadlines. Reservation-based schedulers fix DoP and leave this flexibility unused; work-conserving schedulers exploit it but assume reallocation is cheap and treat deadlines as independent. We present ADS-Tile that combines configurable isolation and elastic reservation into a spatio-temporal isolation-sharing space that bounds where and when reallocation occurs; a probabilistic latency model and a DAG-aware runtime scheduler then use this space to decide task colocation and DoP under shared E2E deadlines. On an industry- and academia- derived ADS benchmark, ADS-Tile uses up to 32% fewer tiles than the work-conserving baseline in deadline-critical settings and cuts reallocation-induced wasted processing capacity from 17%-44% to below 1.2%. Controlled spatio-temporal sharing improves resource efficiency and latency predictability for tile-based ADS.
Links and sources
Need this topic turned into a technical roadmap?
Full Self Driving can prepare a custom autonomous driving literature review, code map, dataset map, and B2B technology assessment.
Request B2B research
Comments